This one's pretty decent, too...
http://www.amazon.com/You-Can-Draw-Tran ... 991&sr=1-1Night Flare's thread's got some good suggestions on there, too, and 'Squeaker's advice is sound.
Not knowing what level your drawing's at currently, it's hard to know exactly what to tell you. But I'd definitely advise following 'Squeaker's technique of starting with a stick figure to place your pose, then flesh it out.
If you're already good at drawing human figures, then you're well on your way. The easy way to visualise a Transformer in that sense is to sketch a human with the proportions of the TF you want to draw (if you want to draw Metroplex, for instance, make sure your base sketch is suitably chunky), and then imagine the figure wearing, say, a series of cardboard boxes. Once you've got a basic framework sorted out, it's relatively simple to detail it.
I'll have to knock up a step-by-step of my own to add to the thread...